CN104300541A - Dynamic prediction compensation method for controlling time delay through active power filter - Google Patents
Dynamic prediction compensation method for controlling time delay through active power filter Download PDFInfo
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- CN104300541A CN104300541A CN201410465757.8A CN201410465757A CN104300541A CN 104300541 A CN104300541 A CN 104300541A CN 201410465757 A CN201410465757 A CN 201410465757A CN 104300541 A CN104300541 A CN 104300541A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000010363 phase shift Effects 0.000 claims abstract description 16
- 238000005070 sampling Methods 0.000 claims abstract description 11
- 230000009466 transformation Effects 0.000 claims abstract description 11
- 238000001914 filtration Methods 0.000 claims abstract description 5
- 235000013350 formula milk Nutrition 0.000 claims description 15
- 238000000819 phase cycle Methods 0.000 claims description 7
- 230000001131 transforming effect Effects 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 description 6
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/20—Active power filtering [APF]
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- Power Engineering (AREA)
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Abstract
The invention discloses a dynamic prediction compensation method for controlling the time delay through an active power filter. The method includes the steps that firstly, an abc coordinate system is defined to the transformation formula of an nth SFR (n is larger than or equal to 1 and is in positive sequence or negative sequence); secondly, at the tk moment, the three phase load currents ia, ib and ic are sampled, Cabc-dqn is adopted for transforming ia, ib and ic into the nth SFR; thirdly, a low pass filter (LPF) is used for filtering out alternating components on a dq shaft in the SFR, and the direct components Idn (K) and Iqn (K) are obtained; fourthly, a current linear error value is calculated; fifthly, the current prediction value at the tk+1 moment is calculated, and tk+1-tk is equal to Ts, wherein ts is the sampling period; sixthly, the SFR ahead phase shift delta*theta is equal to n*omega*Ts; seventhly, C dqn-abc is applied, Idn (K+1) and Iqn (K+1) are transformed into the abc coordinate system, and the nth harmonic current dynamic predication values ian, ibn and icn are obtained in real time; eighthly, ian, ibn and icn serve as the directive currents to control an active power filter (APF) to output the nth harmonic compensation currents.
Description
Technical field
The present invention relates to a kind of Active Power Filter-APF and control the compensation method of time delay dynamic prediction.
Background technology
At present, along with the development of Computer Control Technology, antijamming capability is strong owing to having for digital control technology, control algolithm realizes the plurality of advantages such as convenient and integrated level is flexibly high, and progressively instead of the main realization rate that analog control technique becomes Active Power Filter-APF (APF) control system.But the inherent defect of Digitizing And Control Unit there is time delay, in APF control system, time delay mainly keeps and conversion, control algolithm realization etc. from AD sampling, and the existence due to time delay reduces the dynamic and static state performance of APF harmonic compensation.For the problems referred to above, in recent years, people had carried out that large quantity research is concurrent has opened up many delay compensation methods, wherein, based on gray prediction theory, the delay compensation method algorithm complexity repeating prediction principle and self adaptation scheduling theory, seldom adopt in Practical Project; Applying more in Practical Project is the delay compensation method based on Phaseshift controlling, this algorithm realization is simple, cardinal principle is the phase shifts by synchronous rotating frame (Synchronous Reference Frame, SFR), realizes the predictive compensation to the synchronized harmonics electric current on this SFR.This algorithm, can the harmonic current in Accurate Prediction next moment (corresponding compensation of phase) when load current is in stable state, and when load current dynamic change, the harmonic current predicted will exist error.
Summary of the invention
The invention provides a kind of Active Power Filter-APF and control the compensation method of time delay dynamic prediction, it utilizes APF to control the compensation method of time delay dynamic prediction, while to SFR phase shift, according to micro-linearization principle, linear prediction is carried out to the DC quantity that synchronized harmonics electric current on SFR presents on dq axle, thus realizes compensating the dynamic prediction of control system time delay.The method can real-time response load variations, and fine compensation controls time delay, and algorithm is simple, is easy to Project Realization.
Present invention employs following technical scheme: a kind of Active Power Filter-APF controls the compensation method of time delay dynamic prediction, and it comprises the following steps:
Step one, definition abc coordinate is tied to
nsecondary (
n>=1, positive sequence or negative phase-sequence) transformation for mula of SFR:
，
Wherein
ωfor first-harmonic angular frequency;
Step 2,
t kmoment, sampling three-phase load current
i a,
i b,
i c, and use
will
i a,
i b,
i ctransform to
nin secondary SFR;
Step 3, utilizes the alternating current component on dq axle in low pass filter (LPF) filtering SFR, obtains DC component
,
;
Step 4, calculating current linearization error value:
，
；
Step 5, calculates
t k+1moment current forecasting value,
t k+1 t k=
t s,
t sfor the sampling period:
，
Step 6, the advanced phase shift of SFR
, after definition phase shift
nsecondary (
n>=1, positive sequence or negative phase-sequence) transformation for mula of SFR to abc coordinate system is:
；
Step 7, uses
, will
,
transform in abc coordinate system, obtain in real time
nsubharmonic current dynamic prediction value
i an,
i bn,
i cn:
；
Step 8, with
i an,
i bn,
i cnas instruction current, control APF exports this subharmonic offset current.
The present invention has following beneficial effect: after have employed above technical scheme, the present invention is while to SFR phase shift, according to micro-linearization principle, linear prediction is carried out to the DC quantity that synchronized harmonics electric current on SFR presents on dq axle, thus realize compensating the dynamic prediction of control system time delay, the method can real-time response load variations, fine compensation control time delay, and algorithm is simple, is easy to Project Realization.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention one
nsecondary positive sequence harmonic Current Control time delay dynamic prediction compensation principle block diagram.
Embodiment
The invention provides a kind of Active Power Filter-APF and control the compensation method of time delay dynamic prediction, it comprises the following steps:
Step one, definition abc coordinate is tied to
nsecondary (
n>=1, positive sequence or negative phase-sequence) transformation for mula of SFR:
，
Wherein
ωfor first-harmonic angular frequency;
Step 2,
t kmoment, sampling three-phase load current
i a,
i b,
i c, and use
will
i a,
i b,
i ctransform to
nin secondary SFR;
Step 3, utilizes the alternating current component on dq axle in low pass filter (LPF) filtering SFR, obtains DC component
,
;
Step 4, calculating current linearization error value:
，
；
Step 5, calculates
t k+1moment current forecasting value,
t k+1 t k=
t s,
t sfor the sampling period:
，
Step 6, the advanced phase shift of SFR
, after definition phase shift
nsecondary (
n>=1, positive sequence or negative phase-sequence) transformation for mula of SFR to abc coordinate system is:
；
Step 7, uses
, will
,
transform in abc coordinate system, obtain in real time
nsubharmonic current dynamic prediction value
i an,
i bn,
i cn:
；
Step 8, with
i an,
i bn,
i cnas instruction current, control APF exports this subharmonic offset current.
The present invention is further illustrated below by embodiment.
Embodiment one, in FIG, below with
nsecondary positive sequence harmonic Current Control compensation of delay is that example analyzes this inventive method principle and execution mode thereof,
nit is identical that secondary negative phase-sequence realizes principle, wherein
for
nsecondary SFR synchronous rotary phase information,
for phase shift angle.
Symmetrical component method is used to be expressed as in three-phase three-wire system arbitrary load electric current:
（1）
In formula:
k=a, b, c,
mfor harmonic number (
m>=1, fundamental current is regarded as the harmonic component that number of times is 1 here),
,
represent respectively
msubharmonic current positive and negative sequence component.
Will
,
be unfolded as follows formula:
（2）
（3）
In formula:
,
with
,
represent respectively
mthe amplitude of subharmonic current positive and negative sequence component and initial phase angle.
Definition abc coordinate is tied to
nsecondary (
n>=1) transformation for mula of positive sequence SFR:
（4）
In formula
ωfor first-harmonic angular frequency.
Use
the three phase harmonic current transformation that (2) and (3) formula represents is arrived
nin secondary positive sequence SFR:
（5）
（6）
In formula:
,
represent the
msecondary forward-order current exists
neach component on d, q axle in secondary positive sequence SFR;
,
represent the
msecondary negative-sequence current exists
neach component on d, q axle in secondary positive sequence SFR.
Analysis mode (5), formula (6) are visible,
nin secondary positive sequence SFR, only have
nsecondary positive sequence harmonic electric current is DC quantity, and other are all of ac.
Definition
nsecondary positive sequence harmonic electric current exists
nthe DC quantity in secondary positive sequence SFR, d, q axle presented is
,
:
（7）
Utilize alternating current component on low pass filter (LPF) filtering dq axle, detect DC quantity
,
.
Carry out advanced phase shift to SFR, namely according to the phase shift of SFR direction of rotation, phase shift angle is
,
t sfor the sampling period.
After definition phase shift
nsecondary (
n>=1) transformation for mula of positive sequence SFR to abc coordinate system is:
（8）
If current sample time
t kon the dq axle obtained, DC quantity is
,
, a upper sampling instant
t k-1on the dq axle obtained, DC quantity is
,
, definition current error value is:
（9）
According to micro-linearization principle, in very little excursion, nonlinear change load can be equivalent to linear change load, due to the usual APF sampling period
t sless, for 10kHz sample frequency,
t sbe only 100
us, therefore 2
t sin scope, linearisation equivalence can be carried out to DC quantity on dq axle in SFR.According to mentioned above principle, can predict
t k+1dC quantity on moment dq axle:
（10）
Utilize
, inverse transformation is carried out to formula (10), obtains after predictive compensation
nsecondary three-phase positive sequence harmonic electric current:
（11）
Using this three-phase current as harmonic compensation instruction current, suitable control algolithm control APF is adopted to export this subharmonic offset current.
Claims (1)
1. Active Power Filter-APF controls the compensation method of time delay dynamic prediction, and it comprises the following steps:
Step one, definition abc coordinate is tied to
nsecondary (
n>=1, positive sequence or negative phase-sequence) transformation for mula of SFR:
，
Wherein
ωfor first-harmonic angular frequency;
Step 2,
t kmoment, sampling three-phase load current
i a,
i b,
i c, and use
will
i a,
i b,
i ctransform to
nin secondary SFR;
Step 3, utilizes the alternating current component on dq axle in low pass filter (LPF) filtering SFR, obtains DC component
,
;
Step 4, calculating current linearization error value:
，
；
Step 5, calculates
t k+1moment current forecasting value,
t k+1 t k=
t s,
t sfor the sampling period:
，
Step 6, the advanced phase shift of SFR
, after definition phase shift
nsecondary (
n>=1, positive sequence or negative phase-sequence) transformation for mula of SFR to abc coordinate system is:
；
Step 7, uses
, will
,
transform in abc coordinate system, obtain in real time
nsubharmonic current dynamic prediction value
i an,
i bn,
i cn:
；
Step 8, with
i an,
i bn,
i cnas instruction current, control APF exports this subharmonic offset current.
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|---|---|---|---|
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|---|---|---|---|
| CN201410465757.8A CN104300541B (en) | 2014-09-15 | 2014-09-15 | Dynamic prediction compensation method for controlling time delay through active power filter |
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Cited By (7)
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|---|---|---|---|---|
| CN106771507A (en) * | 2017-01-20 | 2017-05-31 | 泰州学院 | Based on the synchronous Fast reactive current of voltage reference split-phase |
| CN108226637A (en) * | 2017-01-04 | 2018-06-29 | 中国矿业大学(北京) | A kind of any order component detection method with frequency variation adaptability |
| CN110137965A (en) * | 2019-05-17 | 2019-08-16 | 清华大学 | High-voltage cascade H bridge type SVG DC pulse adaptive filter method |
| CN111222093A (en) * | 2020-01-16 | 2020-06-02 | 大连地铁运营有限公司 | Load prediction current calculating device and method for power quality controller |
| CN113315126A (en) * | 2021-05-31 | 2021-08-27 | 华中科技大学 | Specified subharmonic suppression secondary sampling method and system for active power filter |
| CN114924587A (en) * | 2022-05-27 | 2022-08-19 | 江苏科技大学 | Unmanned aerial vehicle path planning method |
| WO2023024029A1 (en) * | 2021-08-26 | 2023-03-02 | 宁德时代新能源科技股份有限公司 | Control method and apparatus for permanent-magnet synchronous electric motor, and permanent-magnet synchronous electric motor control system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226637A (en) * | 2017-01-04 | 2018-06-29 | 中国矿业大学(北京) | A kind of any order component detection method with frequency variation adaptability |
| CN106771507B (en) * | 2017-01-20 | 2020-02-14 | 泰州学院 | Reactive current rapid detection method based on voltage reference split-phase synchronization |
| CN106771507A (en) * | 2017-01-20 | 2017-05-31 | 泰州学院 | Based on the synchronous Fast reactive current of voltage reference split-phase |
| CN110137965A (en) * | 2019-05-17 | 2019-08-16 | 清华大学 | High-voltage cascade H bridge type SVG DC pulse adaptive filter method |
| CN110137965B (en) * | 2019-05-17 | 2020-03-13 | 清华大学 | High-voltage cascaded H-bridge SVG direct-current pulse self-adaptive filtering method |
| CN111222093B (en) * | 2020-01-16 | 2023-10-13 | 大连地铁集团有限公司 | Apparatus and method for calculating load prediction current for power quality controller |
| CN111222093A (en) * | 2020-01-16 | 2020-06-02 | 大连地铁运营有限公司 | Load prediction current calculating device and method for power quality controller |
| CN113315126A (en) * | 2021-05-31 | 2021-08-27 | 华中科技大学 | Specified subharmonic suppression secondary sampling method and system for active power filter |
| CN113315126B (en) * | 2021-05-31 | 2022-07-05 | 华中科技大学 | Specified subharmonic suppression secondary sampling method and system for active power filter |
| WO2023024029A1 (en) * | 2021-08-26 | 2023-03-02 | 宁德时代新能源科技股份有限公司 | Control method and apparatus for permanent-magnet synchronous electric motor, and permanent-magnet synchronous electric motor control system |
| US11894786B2 (en) | 2021-08-26 | 2024-02-06 | Contemporary Amperex Technology Co., Limited | Permanent-magnet synchronous machine control method and device, and permanent-magnet synchronous machine control system |
| CN114924587A (en) * | 2022-05-27 | 2022-08-19 | 江苏科技大学 | Unmanned aerial vehicle path planning method |
| CN114924587B (en) * | 2022-05-27 | 2024-03-19 | 江苏科技大学 | Unmanned aerial vehicle path planning method |
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